Moller



W. MCLLER Feb. 20, 1962 STABILIZING AND CONTROL DEVICE FOR SMALL AIRBORNE OBJECTS 2 Sheets-Sheet 1 Filed Nov. 24, 1959 Q Q H Q w j a i h Q E h k & Q NN m a w &\l\\ w a r 1 MC & .Q A Q R O Q N Q n? w A uvmyrox. WALDEMAR MOLLER ATTORNEY Feb. 20, 1962 w. MULLER 3, ,71

STABILIZING AND CONTROL DEVICE FOR SMALL AIRBORNE OBJECTS Filed Nov. 24, 1959 2 Sheets-Sheet 2 Fig.3

INVENZOR. WALDEMAR MOLLER ATTORNEY 3,021,714 STILIZING AND CONTROL DEVICE FOR SMALL QRNE (DBJECTS Waldemar Miiller, Uherlingen (Bodensee), Germany, as-

signor to Bodenseewerk Perkin-Elmer & Co., G.m.b.H.,

Uherlingen (Bodensee), Germany Filed Nov. 24-, 1959, Ser. No. 855,052 5 Claims. (Cl. 74--5.6)

This invention is concerned with a device for stabilizing and controlling small airborne objects in which the movements of a precessing gyroscope control a servo-unit which is operated by a pressure medium.

It has been found that prior art stabilization devices are unsuitable for small airborne objects which are highly manoeuvrable and on which strong propulsive forces act during flight times which may be as short as a few seconds. A stabilizing device with very hard action and operating with intrusion values of great magnitude is necessary for airborne objects of this kind.

The invention is based on the fact that it is of particular importance, in control system-s utilizing auxiliary force produced by a pressure medium, to avoid harmful dead volume and movable piping for the pressure medium in order to achieve a rapid and powerful response of the control surface.

In accordance with this knowledge, the invention resides in a jet pipe pilot arranged on the precession axis of the gyroscope. The jet pipe pilot actuates a follow-up system fulcrumed at the precession axis which engage the rod assembly actuating the control surface. Thus, the control surface is directly actuated by means of a pressure medium operated follow-up system mounted on the gyroscope, so that no intermediate amplifier and no pressure medium control piping are necessary. In the illustrated embodiment, the follow-up system consists of an adjusting cylinder concentrically curved with respect to the precession axis with crossed jet pipe collecting nozzles and an intermediate Wall. The adjusting cylinder is rotatably mounted on the precession axis by means of bearing arms, two pistons supported by the base structure sliding in the cylinder. The rod assembly to the control surface is directly coupled with this adjusting cylinder, so that the control surface is, effectively, directly coupled with the gycroscope. It has been found that in this manner a hard stabilization efiect free from lag can be achieved.

The adjusting cylinder may be locked in its central position by means of a locking mechanism cooperating with a heart cam. The lock can be automatically released by means of an additional working piston actuated by pressure medium supply to the jet pipe. In this manner, in the event of failure of the pressure medium supply, the control sutrface moves automatically into a predetermined central position.

In prior art devices, secondary control impulses were used to change the stabilized direction or position of flight. Such a procedure would be diflicult with a stabilizing device conceived and constructed in accordance with the invention. A further development of the invention, therefore, provides that the gyroscope of the stabilizing device be fettered to a central position and an additional control system be provided for changing the direction of flight. The additional control system acts simultaneously with the stabilizing device to effect adjustment of the control surface. Direction and position of flight can then be controlled by means of a relatively slowly operating control system, while the elasticity necessary for the change of flight direction and flight position is achieved by the spring fettering of the stabilizing gyroscope.

An embodiment of the present invention is illustrated BfiZlfill Patented Feb. 26, 1962 ice sliding in cylinders 5, 5 with adjustable throttle screws 6, 6' engage the cross bar 3 on both ends. With such an arrangement, as is well known, the precession moment of the gyroscope which depends on the angular velocity of the change in flight position is integrated.

A jet pipe 7, to which control air is supplied from a pipe 8 and through a hollow hinge 9, is connected with the precession axis 2'. A curved adjusting cylinder 10 with bearing arms 11, 11 is rotatably mounted on the precession axis 2. The control rod assembly 13 is fulcrumed at 1-2 on the adjusting cylinder. A partition wall 14 is provided. to subdivide the inner space of the adjusting cylinder 1%. One piston 15, 15 moves in each of the so formed cylinder chambers. These pistons 15, 15 are supported by the base structure .16. Crossed jet pipe collector nozzles 17, '17 are mounted on the adjusting cylinder at the height of the partition wall 14. In the central position, the jet pipe 7 injects air equally into nozzles 17, 17'. As soon as the jet pipe 7, due to a precession movement, begins to travel, for example in a clock Wise direction, the air stream blows into the nozzle 17 so that a higher pressure is built up in front of the piston 15. The adjusting cylinder 10 now follows the jet pipe 7 until the central position is reached. This has the effect of immediately effecting an angular displacement of the control surface.

A locking piece 19 provided With a heart cam 18 is attached to the bearing arms 11, 11'. A locking lever 20, which is pivoted at 21 and which is under the influence of a spring 22, slides on the heart cam 18. This locking lever Zil has the function of locking the adjusting cylinder and thus also the control surface in a central position. Upon switching on the compressed air feeding the jet pipe 7, compressed air supplied through a pipe 8' is simultaneously admitted to a cylinder 23 the piston 24 of which actuates the locking lever 26 and thus releases the locking of the adjusting cylinder 16. The stabilizing device described acts about an axis of the airborne object that coincides with the axis of sensitivity of the gyroscope 1. It is, of course, understood that each axis of the airborne object can be controlled in a similar manner by means of such a stabilizing device.

FIG. 3 is a schematic representation of a stabilizing device of the type described in conjunction with an additional control mechanism 25 by means of which relatively slow changes of flight direction or flight position can be achieved. The gyroscope 1 of the stabilizing device is in this case fettered to a central position by means of springs 26, 26' which engage the cross bar 3. The control rod assembly 13 here engages a summation linkage 27 of well known design, so that the control surface can be displaced by the combined action of the stabilizing device and the control mechanism 25.

I claim:

1. Control apparatus which comprises a base; gyroscopic means mounted on said base having an aXis of rotation and an axis of precession; fluid nozzle means aflixed to said gyroscopic means to rotate about the precession axis thereof; and controlling means pivoted to rotate about said precession axis, in receiving relationship with the fluid from said nozzle means and rotatable thereby, said controlling means comprising an arcuate portion of a hollow toroid having its axis of revolution coincident with said precession axis, a transverse dividing wall ex tending across the toroidal space to divide said space into two abutting toroidal chambers, and a piston in each of said chambers supported by said base.

2. Control apparatus which comprises abase; gyroscopic means mounted on said base having an axis of rotation and an axis of precession; fluid nozzle means aflixed to said gyroscopic means to rotate about the precession axis therewith; and a plurality of enclosed chambers disposed to selectively receive fluid essentially directly from said nozzle means upon rotation of said nozzle means,

said chambers being rotatable about said precession axis upon a fluid pressure unbalance therebetween.

3. The apparatus of claim 1 wherein each of said chambers includes fluid receiving passage means adjacent said dividing wall and positioned to intercept fluid flow from said nozzle means.

4. The apparatus of claim 1 wherein said hollow toroid includes locking means for retaining said toroid in a fixed 4; position, and means operable to disengage said locking means when fluid pressure is applied to said nozzle.

5. The apparatus of claim 3 including a mechanical linkage afflxed to said toroid for actuation thereby about a floating pivot, a secondary control attached to said linkage to actuate said toroid about said floating pivot, and a control rod connected to said floating pivot and longitudinally operable thereby.

References Cited in the file of this patent UNITED STATES PATENTS 366,438 Tower July 12, 1887 640,051 Tower Dec. 26, 1889 1,512,222 Hayes Oct. 21, 1924 1,795,694 Wunsch' Mar. 10, 1931 2,195,351 Ziebolz Mar. 26, 1940 2,299,117 Manteufi'el Oct. 20, 1942 

